A certified-complete bimanual manipulation planner
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we propose a manipulation planning algorithm to bring an obj...
Saved in:
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2019
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/105544 http://hdl.handle.net/10220/47826 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of
the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper,
we propose a manipulation planning algorithm to bring an object from an initial stable placement (position and orientation of the object on a support surface) towards a goal stable placement. The key specificity of our algorithm is that it is certified-complete: for a given object and a given environment, we provide a certificate that the algorithm will find a solution to any bimanual manipulation query in that environment whenever one exists. Moreover, the certificate is constructive: at run-time, it can be used to quickly find a solution to a given query. The algorithm is tested in software and hardware on a number of large pieces of furniture. Note to Practitioners—This paper presents an algorithm to solve a difficult class of bimanual manipulation planning problems where a movable object can be moved only when grasped by two robots. This problem arises naturally when manipulating a large and/or heavy object such as a piece of furniture and is therefore essential to industrial automation. The algorithm first pre-computes a certificate, a set of robot motions to move the object between different placement classes that helps guarantee that the algorithm will find a solution to any planning query whenever one exists. This certificate is then used to quickly construct a solution trajectory to a planning query and can be reused under the same environment. The algorithm has been empirically verified through software and hardware experiments on a number of large pieces of furniture. An open-source implementation is provided. |
|---|